version: 66.08
glider: 168
mission: 2
dive: 19
start: 9 23 110 17 30 58
data:
$ID,168
$MISSION,2
$DIVE,19
$N_DIVES,30
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,110
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51866
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,365
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3186.6174
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,3278
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2776
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.994087
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042824708
$SEABIRD_T_H,0.00062080647
$SEABIRD_T_I,2.3031862e-05
$SEABIRD_T_J,2.5001771e-06
$SEABIRD_C_G,-9.8237314
$SEABIRD_C_H,1.1028168
$SEABIRD_C_I,-0.0011486846
$SEABIRD_C_J,0.00017813468
$GPS1,230910,172607,2426.829,12705.541,28,1.6,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.3
$GPS2,230910,173032,2426.758,12705.581,11,1.4,11,-3.7
$SPEED_LIMITS,0.262,0.375
$TGT_NAME,STATIONKEEP
$TGT_LATLONG,2430.000,12705.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,347.8,6083,-19.2,-15.152
$D_GRID,4321
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-243.3,0.0,0.0,0,97,0.00,0.00,-79.70,0.000,2,0.000,0.000,104,1526,3049,0,0,0,0,0,0
$GC,99,-0.94,-243.3,3.3,-5.1,11,130,10.07,2.17,-12.00,0.000,4,0.200,0.054,2958,2948,3769,0,0,0,0,0,0
$GC,205,-0.92,-243.3,52.0,-37.4,29,214,0.05,2.22,0.00,0.000,6,0.145,0.056,2977,1559,3770,0,0,0,0,0,0
$GC,528,-0.89,-243.3,152.4,-31.0,90,537,0.05,2.20,0.00,0.000,4,0.258,0.055,2989,155,3772,0,0,0,0,0,0
$GC,550,-0.86,-243.3,159.2,-31.4,93,558,0.08,2.05,0.00,0.000,6,0.205,0.035,2997,1542,3773,0,0,0,0,0,0
$GC,886,-0.85,-243.3,245.8,-25.5,154,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1546,3773,0,0,0,0,0,0
$GC,1222,-0.84,-243.3,324.7,-21.5,205,1226,0.00,2.15,0.00,0.000,4,0.000,0.056,2998,146,3773,0,0,0,0,0,0
$GC,1265,-0.82,-243.3,334.6,-22.2,208,1274,0.05,2.12,0.00,0.000,6,0.150,0.037,3008,1553,3773,0,0,0,0,0,0
$GC,1592,-0.82,-243.3,388.9,-16.0,239,1596,0.00,2.15,0.00,0.000,4,0.000,0.056,3008,157,3773,0,0,0,0,0,0
$GC,1645,-0.81,-243.3,399.0,-17.5,243,1654,0.05,2.10,0.00,0.000,6,0.140,0.039,3019,1547,3773,0,0,0,0,0,0
$GC,1971,-0.81,-243.3,450.9,-16.7,274,1974,0.00,2.15,0.00,0.000,4,0.000,0.057,3020,158,3772,0,0,0,0,0,0
$GC,2037,-0.81,-243.3,461.7,-15.9,280,2041,0.00,2.05,0.00,0.000,6,0.000,0.040,3011,1548,3772,0,0,0,0,0,0
$STATE,2288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2288,begin apogee
$GC,2292,-0.17,0.0,501.3,15.3,303,2481,0.57,0.00,184.18,0.835,4,0.106,0.000,3222,1711,2775,0,0,0,0,0,0
$STATE,2482,end apogee,CONTROL_FINISHED_OK
$STATE,2482,begin climb
$GC,2484,0.94,243.3,508.7,0.0,319,2689,0.98,2.25,191.48,0.816,4,0.050,0.048,3595,3099,1784,0,0,0,0,0,0
$GC,2893,0.91,243.3,401.2,32.2,355,2902,0.10,2.22,0.00,0.000,6,0.161,0.047,3573,1698,1778,0,0,0,0,0,0
$GC,3219,0.88,243.3,303.9,29.0,386,3223,0.00,2.17,0.00,0.000,4,0.000,0.054,3583,284,1775,0,0,0,0,0,0
$GC,3328,0.86,243.3,271.7,27.9,404,3337,0.08,2.15,0.00,0.000,6,0.139,0.034,3557,1706,1772,0,0,0,0,0,0
$GC,3670,0.84,243.3,183.5,27.0,465,3677,0.00,2.10,0.00,0.000,4,0.000,0.042,3557,3106,1771,0,0,0,0,0,0
$GC,3721,0.82,243.3,170.6,23.1,474,3731,0.08,2.15,0.00,0.000,6,0.148,0.048,3540,1729,1771,0,0,0,0,0,0
$GC,4053,0.81,243.3,101.2,18.0,535,4060,0.00,2.10,0.00,0.000,4,0.000,0.043,3540,3102,1770,0,0,0,0,0,0
$GC,4183,0.80,243.3,76.7,18.0,559,4191,0.00,2.15,0.00,0.000,6,0.000,0.047,3549,1714,1770,0,0,0,0,0,0
$GC,4506,0.91,332.8,33.3,11.4,620,4580,0.08,2.22,65.50,0.520,4,0.126,0.051,3622,293,1417,0,0,0,0,0,0
$GC,4624,0.90,332.8,11.4,21.6,638,4633,0.15,2.20,0.00,0.000,6,0.121,0.030,3569,1744,1414,0,0,0,0,0,0
$STATE,4666,end climb,SURFACE_DEPTH_REACHED
$STATE,4666,begin surface coast
$FINISH,0.6,1.021751
$STATE,4683,end surface coast,CONTROL_FINISHED_OK
$STATE,4683,begin surface
$SM_CCo,4698,22.60,0.308,1,0,1287,365.01
$SM_GC,1.92,0.00,0.00,22.60,0.000,0.000,0.308,104,1534,1287,-9.92,-0.45,365.01
$IRIDIUM_FIX,2420.48,12706.40,230910,151545
$TT8_MAMPS,0.026964
$HUMID,47.55
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,24.5,4.824
$10V_AH,10.5,4.756
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.925,43.625,441.150,22.600,0.000,21.674,16.228,140.518,1.000,0.000,14.655,1527.047,1113.035,473.473,1820.539,69.670,0.000,1132.767,0.000,1629.251,0.000,0.539,0.000
$DEVICE_MAMPS,257.805,63.495,835.380,308.295,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.451,0.000,1133.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334112
$DATA_FILE_SIZE,40352,648
$CAP_FILE_SIZE,70400,0
$CFSIZE,260165632,251518976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248,162.3,1
$GPS,230910,185032,2426.711,12705.533,13,1.7,13,-3.7